Steve Morison and Paul Robinson were the heroes as Millwall defeated Huddersfield to reach the League One play-off final for the second successive year.
Morison has been sensational for the Lions this season and tapped home his 23rd of the campaign in all competitions after Town keeper Alex Smithies parried a cross into his path midway through the opening half.
As the match became increasingly stretched after the break, Scott Barron might have calmed the home supporters' nerves but he saw his strike rebound to safety off the crossbar.
However, Robinson headed home a corner from Barron with 10 minutes remaining to settle an edgy, at times error-strewn but always engrossing match that the home team deserved to win to secure a 2-0 aggregate victory after a goalless first leg.
Millwall lost just once at home during the regular season and their victory on Wednesday keeps alive their hopes of securing their first victory through the play-offs at the sixth attempt.
Manager Kenny Jackett will be hoping his team can go one better than last year's defeat against Scunthorpe when they meet Swindon at Wembley on 29 May.
The Lions defeated the Robins 3-2 at the New Den in their final home game of the regular season and can go into their final match of the campaign full of confidence after a strong performance against a Terriers side left to rue missed opportunities in the first leg.
Millwall, who finished third in the table after the regular season, started Wednesday's second leg at an incredible tempo, pressuring the Town defence and taking every opportunity to deliver crosses into the box.
Jackett proud of Millwall perfomance
Robinson narrowly failed to connect with a ball in from the lively Neil Harris while Smithies saved a header from Morison.
But Huddersfield grew in confidence and started to look threatening on the break, helped in part by the fact that Millwall gifted the Terriers far too space to run at their defence.
David Forde had to be alert to save an attempted clearance from Nadjim Abdou that struck a team-mate and headed goalwards and the Lions keeper later tipped a Lee Novak effort around the post.
And it was slightly against the run of play when Jack Smith broke down the right and delivered a low cross that Smithies parried for Morison to open the scoring.
Anthony Pilkington delivered a teasing cross that Forde athletically tipped over his crossbar shortly afterwards, but otherwise Millwall took control of the match after scoring.
Morison, full of running from wide areas, caused problems for Peter Clarke and, particularly, Neal Trotman, pulling the central defenders out of position.
A low Morison cross from the right resulted in a near miss by Smith, while Clarke had to take urgent action to clear another ball in from the Lions striker, this time delivered from the left.
Morison, wearing a bandage on his head after picking up an injury in the first leg, also headed narrowly over from a corner as the Lions pushed for a second before the break.
There was little sign of a Town equaliser in the opening period after the restart and boss Lee Clark replaced the ineffectual Jordan Rhodes with Theo Robinson after 56 minutes.
Dejected Clark blames lack of belief
The match entered a disjointed phase as some misplaced passes and poor decision making ensured chances remained at a premium.
Morison was less influential but it was his low pass from the right that Barron collected before surging into the Town area and smashing a shot that cannoned off the crossbar.
Millwall looked the more threatening and sealed their place at Wembley when skipper Robinson rose unmarked to head home his team's second.
Substitute Gary Alexander might have added a third but his low angled strike was saved by Smithies.
Millwall manager Kenny Jackett: "I'm delighted, very proud, but that's half the job done
"The players put in a terrific performance and brought the crowd into play with their effort and application. Huddersfield are a very good team and you look at their average age and they will come again.
"To keep them to a clean sheet over 180 minutes is a great achievement, but we are halfway there."
Huddersfield manager Lee Clark: "I feel the two goals we have given away aren't the greatest, but they were little mistakes.
"We had some good situations but didn't show the belief. We have some good young players but maybe sometimes I have more confidence in them than they have in themselves.
"Come the end of June, when we report back for pre-season, we have to realise that we don't want to feel this feeling again."
90:00+4:57 The referee signals the end of the game.
90:00+4:22 Daniel Drinkwater has an effort at goal from outside the area which misses left.
90:00+2:21 Booking Lee Peltier receives a yellow card for unsporting behaviour.
90:00+1:16 Corner taken short by Scott Barron.
90:00+0:18 Scott Barron decides to take the corner short.
89:32 Free kick awarded for an unfair challenge on Nadjim Abdou by Peter Clarke. David Forde takes the free kick.
89:00 Gary Alexander has an effort at goal from just inside the box that misses to the left of the goal.
88:14 Danny Schofield decides to take a short corner.
88:14 Substitution Neil Harris goes off and Gary Alexander comes on.
85:11 Antony Kay has an effort at goal from long range that misses to the right of the goal.
83:44 Free kick awarded for an unfair challenge on Antony Kay by Nadjim Abdou. Direct free kick taken by Nathan Clarke.
82:41 Substitution Nathan Clarke is brought on as a substitute for Neal Trotman.
81:38 Scott Barron provided the assist for the goal.
81:38 GOAL - Paul Robinson:Millwall 2 - 0 Huddersfield Paul Robinson scores a headed goal from deep inside the penalty area. Millwall 2 (2)-(0) 0 Huddersfield.
81:04 Inswinging corner taken left-footed by Scott Barron from the right by-line,
79:53 The assistant referee signals for offside against Lee Novak. David Forde takes the free kick.
79:15 Nadjim Abdou has a headed effort from close range and clears the crossbar.
77:46 Lee Novak is caught offside. Paul Robinson restarts play with the free kick.
76:09 Free kick awarded for a foul by Neal Trotman on Darren Ward. Free kick taken by David Forde.
75:42 Jack Smith challenges Nathan Eccleston unfairly and gives away a free kick. Direct free kick taken by Robbie Williams.
74:44 David Forde takes the indirect free kick.
74:44 Substitution (Huddersfield) makes a substitution, with Nathan Eccleston coming on for Anthony Pilkington.
74:44 The assistant referee signals for offside against Theo Robinson.
73:36 Shot by Daniel Drinkwater from outside the area goes high over the crossbar.
73:00 The free kick is swung in right-footed by Anthony Pilkington, Neil Harris makes a clearance.
73:00 Booking Tony Craig is shown a yellow card for unsporting behaviour.
72:48 Free kick awarded for an unfair challenge on Anthony Pilkington by Tony Craig.
69:49 Anthony Pilkington takes a shot. Save by David Forde.
69:17 Short corner worked by Anthony Pilkington.
67:54 Scott Barron takes a shot.
64:46 Foul by Daniel Drinkwater on Jack Smith, free kick awarded. David Forde takes the direct free kick.
63:04 Corner from the left by-line taken by Anthony Pilkington, save made by David Forde.
57:36 The referee blows for offside against Steve Morison. Alex Smithies takes the indirect free kick.
56:21 Substitution Theo Robinson replaces Jordan Rhodes.
55:51 Gary Roberts produces a left-footed shot from just outside the area that goes harmlessly over the target.
54:54 Corner from right by-line taken by Gary Roberts.
51:19 Shot from outside the penalty box by Scott Barron goes wide right of the goal.
47:37 Gary Roberts takes a corner.
46:54 Unfair challenge on Anthony Pilkington by Scott Barron results in a free kick. Free kick taken by Alex Smithies.
45:58 Free kick awarded for an unfair challenge on Nadjim Abdou by Jordan Rhodes. Direct free kick taken by Jack Smith.
45:18 Danny Schofield fouled by Robbie Williams, the ref awards a free kick. Direct free kick taken by Jack Smith.
45:01 The referee gets the second half started.
45:00+2:11 The whistle is blown to end the first half.
43:53 Lee Novak is flagged offside by the assistant referee. David Forde takes the free kick.
43:31 Jordan Rhodes fouled by Tony Craig, the ref awards a free kick. Lee Peltier takes the free kick.
41:34 The offside flag is raised against Neil Harris. Free kick taken by Alex Smithies.
40:02 Outswinging corner taken left-footed by Scott Barron, Darren Ward takes a shot. Save by Alex Smithies.
38:33 Lee Peltier is penalised for a handball. David Forde restarts play with the free kick.
37:11 Corner from the left by-line taken by Scott Barron, Headed effort from deep inside the penalty area by Steve Morison goes
harmlessly over the crossbar.
36:13 Neil Harris has shot on goal from just outside the area which goes wide of the right-hand upright.
35:07 Robbie Williams concedes a free kick for a foul on Neil Harris. Free kick crossed left-footed by Scott Barron.
31:33 Free kick taken by Jack Smith.
31:33 Booking Antony Kay is booked.
31:19 Free kick awarded for an unfair challenge on Liam Trotter by Antony Kay.
29:39 Jack Smith has an effort at goal from deep inside the area missing to the right of the goal.
27:47 Inswinging corner taken from the right by-line by Gary Roberts, clearance made by Steve Morison.
25:10 Inswinging corner taken left-footed by Scott Barron, Alex Smithies fouled by Paul Robinson, the ref awards a free kick. Free
kick taken by Alex Smithies.
24:08 Inswinging corner taken left-footed by Gary Roberts, David Forde makes a save.
23:36 Corner taken by Anthony Pilkington from the left by-line, Neal Trotman takes a shot. Tony Craig gets a block in.
23:24 Antony Kay takes a shot. Paul Robinson gets a block in.
22:18 GOAL - Steve Morison:Millwall 1 - 0 Huddersfield Goal scored by Steve Morison from inside the six-yard box to the bottom left corner of the goal. Millwall 1 (1)-(0) 0 Huddersfield.
21:04 Jordan Rhodes takes a shot. Paul Robinson gets a block in. Lee Novak takes a shot. David Forde makes a save. Inswinging corner
taken by Anthony Pilkington, save by David Forde.
17:39 Daniel Drinkwater is penalised for handball and concedes a free kick. Direct free kick taken by David Forde.
15:28 Outswinging corner taken left-footed by Scott Barron from the right by-line, Antony Kay makes a clearance.
15:18 Nadjim Abdou takes a shot. Save by Alex Smithies.
11:52 Neal Trotman has a headed effort at goal from close in which goes wide right of the target.
10:58 Booking Anthony Pilkington goes into the book.
10:05 Steve Morison takes a shot. Neal Trotman gets a block in.
9:09 Scott Barron takes a outswinging corner from the left by-line to the near post, Peter Clarke manages to make a clearance.
8:16 Danny Schofield concedes a free kick for a foul on Peter Clarke. Alex Smithies takes the direct free kick.
6:55 Lee Peltier gives away a free kick for an unfair challenge on Scott Barron. The ball is sent over by Scott Barron, Steve Morison
takes a shot. Alex Smithies makes a save. Daniel Drinkwater challenges Scott Barron unfairly and gives away a free kick. Tony
Craig restarts play with the free kick.
5:44 Free kick awarded for a foul by Lee Peltier on Scott Barron. Scott Barron restarts play with the free kick.
5:01 The assistant referee signals for offside against Lee Novak. Indirect free kick taken by Paul Robinson.
0:55 Scott Barron takes the inswinging corner, clearance by Peter Clarke.
0:10 Jordan Rhodes gives away a free kick for an unfair challenge on Paul Robinson. Free kick taken by David Forde.
0:00 The game kicks-off.
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